// --------------------------------------------------------------------------------------------------------------------
// <copyright file="TrajectoryWaypoints.cs" company="Microsoft Corporation">
// The MIT License (MIT)
// 
// Copyright (c) 2014, Microsoft Corporation
// 
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//  of this software and associated documentation files (the "Software"), to deal
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//  copies of the Software, and to permit persons to whom the Software is
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// The above copyright notice and this permission notice shall be included in
//  all copies or substantial portions of the Software.
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namespace Microsoft.Robotics.Manipulation.Runtime.MotionControl
{
    using System;
    using System.Runtime.Serialization;

    using Microsoft.Robotics.Manipulation;
    using Microsoft.Robotics.Numerics;
    using Microsoft.Robotics.Runtime;

    /// <summary>
    /// Message initiating a trajectory based motion
    /// </summary>
    [DataContract]
    public class TrajectoryWaypoints
    {
        /// <summary>
        /// The waypoints.
        /// </summary>
        [DataMember]
        private double[,] points;

        /// <summary>
        /// Initializes a new instance of the <see cref="TrajectoryWaypoints"/> class.
        /// </summary>
        /// <param name="waypoints">The waypoints.</param>
        public TrajectoryWaypoints(double[,] waypoints)
        {
            this.points = waypoints;
        }

        /// <summary>
        /// Gets a waypoint value.
        /// </summary>
        /// <param name="dof">Degree of freedom.</param>
        /// <param name="point">Waypoint index.</param>
        /// <returns>Waypoint value.</returns>
        public double this[int dof, int point]
        {
            get
            {
                return this.points[dof, point];
            }
        }

        /// <summary>
        /// Gets a copy of the trajectory waypoints as a two-dimensional array of the form [DOF #, point #].
        /// </summary>
        /// <returns>A copy of the trajectory waypoints.</returns>
        public double[,] GetCopyAsArray()
        {
            double[,] copy = new double[this.points.GetLength(0), this.points.GetLength(1)];
            Array.Copy(this.points, copy, this.points.Length);

            return copy;
        }
    }
}
